Disparity selection in binocular pursuit

This paper presents a technique for disparity selection in the context of binocular pursuit. For vergence control in binocular pursuit, it is a crucial problem to find the disparity which corresponds to the target among multiple disparities generally observed in a scene. To solve the problem of the selection, we propose an approach based on histogramming the disparities obtained in the scene. Here we use an extended phase-based disparity estimation algorithm. The idea is to slice the scene using the disparity histogram so that only the target remains. The slice is chosen around a peak in the histogram using prediction of the target disparity and target location obtained by back projection. The tracking of the peak enables robustness against other, possibly dominant, objects in the scene. The approach is investigated through experiments and shown to work appropriately.